Collision mitigation control device

Abstract

A control device controls a collision mitigation operation of a collision mitigation device applied to a vehicle. The control device includes: a determination unit that determines the probability of a collision between the vehicle and an object on the basis of the position of the object detected by a detection device and a history of positions of the object; an execution unit that causes the collision mitigation device to execute the collision mitigation operation in response to determining that the probability of a collision is higher than a predetermined value; and a condition changing unit that executes, in response to determining that the detected object is a pedestrian or bicycle emerging rapidly from behind a stationary object, a condition changing process for making a change such that the determination unit determines the probability of a collision without using the history of positions of the object.

1 . A collision mitigation control device that is applied to a vehicle including a detection device that detects a position of an object located ahead of the vehicle and a collision mitigation device that executes collision mitigation operation for the vehicle and the object, the collision mitigation control device being configured to control the collision mitigation operation of the collision mitigation device, the collision mitigation control device comprising:
 a determination unit that determines a probability of a collision between the vehicle and the object on the basis of the position of the object detected by the detection device and a history of positions of the object;   an execution unit that causes the collision mitigation device to execute the collision mitigation operation in response to the determination unit determining that the probability of a collision is higher than a predetermined value; and   a condition changing unit that executes, in response to determining that the object detected by the detection device is a pedestrian or bicycle emerging rapidly from behind a stationary object, a condition changing process for making a change such that the determination unit determines the probability of a collision without using the history of positions of the object detected by the detection device.   
     
     
         2 . A collision mitigation control device that is applied to a vehicle including a detection device that detects a position of an object located ahead of the vehicle and a collision mitigation device that executes collision mitigation operation for the vehicle and the object, the collision mitigation control device being configured to control the collision mitigation operation of the collision mitigation device, the collision mitigation control device comprising:
 a determination unit that determines a probability of a collision between the vehicle and the object on the basis of the position of the object detected by the detection device and a history of positions of the object;   an execution unit that causes the collision mitigation device to execute the collision mitigation operation in response to the determination unit determining that the probability of a collision is higher than a predetermined value; and   a condition changing unit that executes, in response to determining that the object detected by the detection device is a pedestrian or bicycle emerging rapidly from behind a stationary object, a condition changing process for reducing an amount of history data used for the determination by the determination unit.   
     
     
         3 . The collision mitigation control device according to  claim 1 , wherein
 the condition changing unit executes the condition changing process on condition that a speed of the vehicle is higher than a predetermined speed.   
     
     
         4 . The collision mitigation control device according to  claim 1 , wherein
 the condition changing unit executes the condition changing process on condition that the vehicle is traveling in a straight line.   
     
     
         5 . The collision mitigation control device according to  claim 1 , wherein
 the condition changing unit executes the condition changing process on condition that an amount of history data of positions of the object detected by the detection device is less than an amount of history data used for the determination by the determination unit.   
     
     
         6 . The collision mitigation control device according to  claim 1 , wherein
 the condition changing unit executes the condition changing process on condition that a speed of the object detected by the detection device in a vehicle traveling direction is lower than a predetermined speed.   
     
     
         7 . The collision mitigation control device according to  claim 1 , wherein
 the condition changing unit executes the condition changing process on condition that the object detected by the detection device is at least partially hidden behind the stationary object or that the object detected by the detection device appears from behind the stationary object.   
     
     
         8 . The collision mitigation control device according to  claim 1 , wherein
 the condition changing unit finishes the condition changing process once an amount of history data of positions of the object detected by the detection device becomes equal to or greater than an amount of history data of positions of the object used for the determination by the determination unit.